Need help in dealing with guilt and regret.

I wont get into details, but in the past there was a person who I was close to but hurt a lot. I was young at the time but later on I still mistreated them and made them uncomfortable. Now, I want to reach out and say sorry but I'm afraid they won't see me as being genuine. What is the right way to go about this and how do I get peace within myself as thinking about this everyday still troubles me and makes me feel like I've failed as a human being because what I did goes against my moral values and even something I speak out against openly. :/

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Any help or advice would be greatly appreciated.

submitted by /u/achmxd
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